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[wpimath] Add typedefs for common types

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This makes complex code significantly easier to read.

frc::Vectord<Size> = Eigen::Vector<double, Size>
frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
This commit is contained in:
Peter Johnson
2022-04-29 22:29:20 -07:00
parent 97c493241f
commit e767605e94
76 changed files with 1136 additions and 1449 deletions
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wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
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@@ -46,8 +46,8 @@ TEST(StateSpaceSimTest, FlywheelSim) {
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInput(Eigen::Vector<double, 1>{
motor.Get() * frc::RobotController::GetInputVoltage()});
sim.SetInput(
frc::Vectord<1>{motor.Get() * frc::RobotController::GetInputVoltage()});
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}